Related Manuals for Siemens 2D-TZ577
Summary of Contents for Siemens 2D-TZ577
- Page 1 Mitsubishi Industrial Robot CR800-D series controller CR750-D/CR751-D series controller CRnD-700 series controller PROFIBUS DP-V0 Slave Interface Instruction Manual 2D-TZ577 BFP-A8741-D...
- Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
- Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
- Page 5 CAUTION After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop.
- Page 6 DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction. CAUTION Make sure there are no mistakes in the wiring.
- Page 7 Revision History Printing date Manual No. Description 2008-03-25 BFP-A8741 Initial edition 2008-04-15 BFP-A8741-A ･Error in writing correction. ･The back cover was corrected. ･Hyper link was corrected. 2016-08-08 BFP-A8741-B ･The cover and corporate logo mark of this manual was changed. 2017-05-31 BFP-A8741-C ･The CR800-D series controller was added.
- Page 8 Thank you for purchasing Mitsubishi Electric Industrial Robot. The PROFIBUS DP-V0 Slave Interface (2D-TZ577) is an optional device which, installed into the CRnD-700 series, CR750-D/CR751-D series, or CR800-D series Robot Controller, permits you to connect the Robot Controller to a PROFIBUS DP-V0 network.
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Page 9: Table Of Contents
Robot Controller Input/Output Signals ....................12 About Dedicated Input/Output ....................... 13 Specification Relative to Robot Language .................... 13 3.7.1 Robot System State Variables Relative to 2D-TZ577 Card ............13 About Output Signal Reset Patterns ..................... 16 Hardware of 2D-TZ577 Card ......................... 17 3.9.1 Overall View ........................... - Page 10 6.4.1 CR1D Controller ..........................27 6.4.2 CR2D Controller ..........................27 6.4.3 CR3D Controller ..........................28 Checking Connections .......................... 29 Procedure before Startup ..........................30 Procedure for Running Self-diagnosis ....................31 Parameter Settings on the Side of Master Station ................31 7.2.1 Procedure for Establishing Parameters ..................
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Page 11: Before Using Profibus Dp-V0 Slave Interface
Information about input/output configuration at Slave Station. information (data module) Input data Data which is sent by 2D-TZ577 Card and received by Master Station. (Data inputted by Master Station) Output data Data which is sent by Master Station and received by 2D-TZ577 Card. -
Page 12: How To Use This Manual
1 Before Using PROFIBUS DP-V0 Slave Interface 1.2 How to Use This Manual This manual discusses the functions of the 2D-TZ577 Card with its constituent sections organized as shown in the table below. For information about the functions available from the standard Robot Controller and the operating method thereof, refer to the "Instruction Manual"... -
Page 13: Workflow
Unpack cartons containing your purchase and ensure that all the necessary items are ready for installation. Hardware setup and installation to robot controller See Section 5 and Section 6.1. ････････････ The 2D-TZ577 Card lets you do without hardware setup. Install the Card into the Robot Controller, as it is. Performing self-diagnosis See Section 7.1. ･････････････････････････････････... -
Page 14: Features And Specification Of 2D-Tz577 Card
PROFIBUS FMS, PROFIBUS DP for factory automation application, and PROFIBUS PA for process automation application. The 2D-TZ577 Card is intended to serve as a slave station which supports PROFIBUS DP-V0 capabilities. It does not support PRORIBUS DP-V1 or PROFIBUS DP-V2 which is an extension of PROFIBUS DP-V0. -
Page 15: Features Of 2D-Tz577 Card
Compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8) Designed to provide compliance with EN 50170 Volume 2 (Part 1, 2, 3, 4, and 8), the 2D-TZ577 Card serves only as a slave station in a PROFIBUS DP-V0 network. - Page 16 3 Features and Specification of 2D-TZ577 Card Input/output data swapping The 2D-TZ577 Card permits upper/lower bytes to be swapped at the time when input/output data is sent to or received from Master Station. In a PROFIBUS DP network, the way the upper/lower bytes of input/output data is treated differs depending on the type of Master Station, but there is no need for making input/output data swapping at a program level.
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Page 17: Specification Of 2D-Tz577 Card
3 Features and Specification of 2D-TZ577 Card 3.3 Specification of 2D-TZ577 Card The following table shows the specification of the 2D-TZ577 Card. 3.3.1 General Specification Table 3-1 General Specification (2D-TZ577 Card) Item Specification Remark Type name TZ577 PROFIBUS specification complied... -
Page 18: Transmission Specification
3 Features and Specification of 2D-TZ577 Card 3.3.2 Transmission Specification Table 3-2 Transmission Specification Item Specification Electrical standard and characteristic Compliant with EIA-RS485 Medium Shielded twisted-pair cable (Type A) Network configuration Bus type (tree type when repeater(s) is (are) used) -
Page 19: Accommodated Versions
3 Features and Specification of 2D-TZ577 Card Segment Mater Station Slave Station ……………. Slave Station Slave Station No. 2 No. 1 No. 030 Repeater Slave Station Slave Station ……………. Slave Station No. 031 No. 032 No. 060 Figure 3-2 An Example of Basic PROFIBUS DP Network Configuration 3.3.4... -
Page 20: Robot Parameters
-1, -1 -1 /2000 to 3951 A parameter that specifies a dedicated input signal number to stop robot programs. (Because the parameter "STOP" is fixed at "0", 2D-TZ577 Card uses "STOP2" to define an external stop signal.) ORST2000 00000000, 0/1/*... - Page 21 Setting range Description name PBCNT 0 to 65535 A parameter that specifies an interval at which the 2D-TZ577 Card is checked for error. Unit interval: msec In normal condition, use the 2D-TZ577 Card at its factory default (40). User may change the setting only when communication errors are frequently encountered under the undue influence from noise in his installation environment.
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Page 22: Robot Controller Input/Output Signals
3 Features and Specification of 2D-TZ577 Card 3.5 Robot Controller Input/Output Signals Input/output signals processed in the Robot Controller are in the range of 2000 to 3951 maximum (equivalent to 192 words), respectively, irrespective of station numbers. Table 3-5 PROFIBUS Input/Output Signal Numbers... -
Page 23: About Dedicated Input/Output
Section 6 "Functions of External Input/Output" of the "Instruction Manual - Detailed Description of Functions and Operation" which is separately issued. 3.7 Specification Relative to Robot Language The follow subsection explains robot language (MELFA-BASIC V) which pertains to the 2D-TZ577 Card. 3.7.1 Robot System State Variables Relative to 2D-TZ577 Card... - Page 24 3 Features and Specification of 2D-TZ577 Card Table 3-8 An Example of Input/Output Signal Alignment between Master Station and Robot Meaning Master Station Robot Data send/receive region Data send region Input: 2000 to 2015 PLC data write completed flag WRTFLG Input No.
- Page 25 Read settings in flash M_PBSYNM Integer 1 SYNC mode signal (a) Takes on the value "1" when 2D-TZ577 Read Card goes into SYNC mode in response to SYNC request from Master Station. (b) Takes on the value "0" when SYNC mode...
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Page 26: About Output Signal Reset Patterns
3 Features and Specification of 2D-TZ577 Card 3.8 About Output Signal Reset Patterns Factory default settings are such that startup takes place with all general-purpose output signals being off (0). You can change the state of general-purpose output signals at power-on by re-specifying the parameters listed in the table below. -
Page 27: Hardware Of 2D-Tz577 Card
PROFIBUS cable connector Figure 3-4 Overall View of 2D-TZ577 Card 3.9.2 There are two LEDs provided on the 2D-TZ577 Card, each of which indicates the state of the Card by going on or off. （red） （green） Figure 3-5 Location of LEDs... -
Page 28: Out Of The Package
Figure 4-1 2D-TZ577 Component Parts (Illustrated) 4.2 Items To Be Furnished by User The following table shows the items that the user is requested to have ready before using the 2D-TZ577 Card. Table 4-2 Items To Be Furnished by User... - Page 29 Connector Connector specifically designed for use with PROFIBUS, having built-in terminator resistors. Recommended type name: 6GK1 500-0FC00 *Siemens. Use a connector of straight type (180°cable outlet). When using a connector of right-angle type (90° cable outlet), note that it may give rise to problems...
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Page 30: Hardware Setup
5. Hardware Setup 5.1 Hardware Setup for 2D-TZ577 Card Hardware setup need not be done in regard to the 2D-TZ577 Card. Entire setup activity is performed by using parameter settings on the side of the Master Station and the Robot Controller. -
Page 31: Connection And Wiring
CR800-D: Provided with Option Slots 1 thru 2 6.1.1 CR1D Robot Controller Remove the option slot interface cover on the rear of the Controller and install a 2D-TZ577 Card into the slot. During installation, use the handle fitted to the Card. Slot 1... -
Page 32: Cr2D Robot Controller
During installation, use the handle fitted to the Card. Cover-removing lever Interface cover Connector Interface card Handle Disconnecting lever Figure 6-2 Installing A 2D-TZ577 Card (in the case of CR2D Controller) Installing A 2D-TZ577 Card into Robot Controller 6- 22... -
Page 33: Cr3D Robot Controller
1 thru 3 on the CPU unit and install a 2D-TZ577 Card into the slot. During installation, use the handle fitted to the Card. Figure 6-3 Installing A 2D-TZ577 Card (in the case of CR3D Controller) Installing A 2D-TZ577 Card into Robot Controller 6- 23... -
Page 34: Cr750-D/Cr751-D Robot Controller
6.1.4 CR750-D/CR751-D Robot Controller Remove one interface cover of the option slots 1-2 in the robot controller front or rear, and mount the 2D-TZ577 card there. Please use the handle of the interface card at mounting of the interface card. -
Page 35: Cr800-D Robot Controller
6.1.5 CR800-D Robot Controller Remove one interface cover of the option slots 1-2 in the robot controller front, and mount the 2D-TZ577 card there. Please use the handle of the interface card at mounting of the interface card. <CR800 controller (Front side)>... -
Page 36: Connector Pin Configuration (D-Sub9 Pin)
6 Connection and Wiring 6.2 Connector Pin Configuration (D-SUB9 Pin) Table 6-1 Connector Pin Configuration Pin No. Name Service Not assigned Not assigned RxD/TxD-P Received/transmitted data-P Not assigned DGND Data ground earth (0V) (*1) Voltage + (+5V) (*1) Not assigned RxD/TxD-N Received/transmitted data-N Not assigned... -
Page 37: About Noise Control
6 Connection and Wiring 6.4 About Noise Control To avoid an adverse impact from noise, strip off some sheath of the PROFIBUS cable, and attach the cable's metal blade portion to the controller casing with an earth clamp and install the accompanying ferrite core within 30cm of where the cable is clamped onto the casing. -
Page 38: Cr3D Controller
(*2) When Siemens PROFIBUS FC standard cable (8.0mm O.D.) is used, recommended metal clamps are: AL4 or AL6 *RICHCO INC AL4: D = 6.4mm (1/4 in.) AL6: D = 9.5mm (3/8 in.) -
Page 39: Checking Connections
6 Connection and Wiring 6.5 Checking Connections Before placing the 2D-TZ577 Card in service, go through the following checklist to avoid oversights. Table 6-2 Checklist for Proper Connections Item confirmed Check Is the 2D-TZ577 Card securely installed into the Controller's slot? -
Page 40: Procedure Before Startup
7 Procedure before Startup 7. Procedure before Startup The following diagram shows the procedure performed to place the 2D-TZ477 Card in operation. Start Run self-diagnosis and check to see if the PROFIBUS See Section 7.1 Interface Card functions properly as an independent unit. See Section 7.2 Establish parameters on the side of the Master Station. -
Page 41: Procedure For Running Self-Diagnosis
* Parameter need be set as "PBMODE = 0" if it is not desired to run self-diagnosis at the subsequent startup. Corrective actions at the occurrence of error If the results of self-diagnosis are "error," replace the 2D-TZ577 Card. When replacing the card, contact its manufacturer for advice. 7.2 Parameter Settings on the Side of Master Station 7.2.1... -
Page 42: Slave Parameters
7 Procedure before Startup <Procedure for establishing 2D-TZ577 Card slave parameters to Master Station> Read GSD file stored in the CD-ROM supplied with the 2D-TZ577 Card into a setting software which is compatible with the Master Station. Establish 2D-TZ577 Card slave parameters, using the setting software. - Page 43 0: No swapping takes place. 1: Swapping takes place. Number of data module settings Make settings so that the number of data modules per 2D-TZ577 Card falls within the limits shown below: • Number of data modules: 40 maximum •...
- Page 44 Output 2000-2015 regular intervals and are Output 2016-2031 Data module2 accompanied by updating. Output 2032-2047 Data module4 Output 2048-2063 2D-TZ577 Card (Slave Station) Robot Controller Figure 7-4 Flow of Data Parameter Settings on the Side of Master Station 7- 34...
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Page 45: Parameter Settings On The Side Of Robot Controller
Parameter settings under R32TB, R56TB, and RT ToolBox2 (versions earlier than Ver. 1.3) To place the 2D-TZ577 Card in operation, it is necessary to establish three typical parameters, as listed below, on the Robot Controller. For information about what to do about other parameters, see Table 3-4 A Listing of Robot Parameters Used with PROFIBUS. - Page 46 7 Procedure before Startup Figure 7-5 PROFIBUS Setting Screen You can call up the PFOFIBUS setting screen by expanding the Test tree under the Work Space and going through "Online" and "Parameter" and double-clicking the "PROFIBUS setting" entry or alternatively right-clicking this entry and clicking Open on the pull-down menu that appears.
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Page 47: Have A Try For It
7 Procedure before Startup 7.4 Have A Try For It 7.4.1 Setting Dedicated Input/Output Make settings for dedicated input/output as listed in the table. After changing the parameter settings, power the system off and on again. For information about making these settings, refer to the "Instruction Manual - Detailed Description of Functions and Operation"... -
Page 48: Examples Of Robot Program (Using General-Purpose I/O)
M1 = M_Inb(2000) interlock. M_Out(2009) = 1 For information about the interlock, see Section 3.7.1 Robot *LBL2:If M_In(2008) = 1 Then GoTo *LBL2 System State Variables Relative to 2D-TZ577 Card. M_Out(2009) = 0 Select M1 Case 1 If M1 is 1, a jump is made to the line labeled "*LOAD."... -
Page 49: A Sample Program For Checking Input/Output
7.4.4 A Sample Program for Checking Input/Output Shown below is a sample program which can be used for checking input/output on the 2D-TZ577 Card. Use this program during a checkup at startup or as otherwise required. Table 7-7 Signal Alignment Conditions... -
Page 50: Troubleshooting
Error message PROFIBUS Initial error Cause An error was detected in the hardware. The hardware may be at fault. H.8500 Replace the 2D-TZ577 Card. Solution When replacing the card, contact its manufacturer for advice. Error message PROFIBUS watch dog timer error Cause An error was detected in the hardware. - Page 51 Error message PROFIBUS St.number write error. Cause More than 60 consecutive rewrite attempts were made on the flash ROM. H.8530 Replace the 2D-TZ577 Card. Solution When replacing the card, contact its manufacturer for advice. Error message PROFIBUS flash ROM access error.
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Page 52: At The Occurrence Of Error 8570 (Profibus Communication Timeout)
8 Troubleshooting 8.2 At the Occurrence of Error 8570 (PROFIBUS Communication Timeout) When this error occurred, take the corrective action suggested in the troubleshooting chart in Section 8.1. If the error still persists, check to see the following: Is power to the Master Station unit on? Is the Master Station functioning properly? * H.8570 occurs unless the Master Station is up and running before power is turned on to the Robot Controller. -
Page 53: Appendix
Clicking Slotn(n=1~3):PROFIBUS under the Option Card entry on the Work Space tree lets you have information about the 2D-TZ577 Card displayed on a property window. Attributes are displayed. Figure 9-1 An Example of Option Card Information Displayed on RT ToolBox2 Window... - Page 56 Feb., 2018 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.